template<typename _Scalar, unsigned int _N>

manif::internal::traits<RnTangent<_Scalar, _N>> struct

Traits specialization.

Derived classes

template<typename _Scalar, unsigned int _N>

struct traits<Eigen::Map<RnTangent<_Scalar, _N>, 0>>

traits specialization for Eigen Map

Public types

using Scalar = _Scalar

using LieGroup = Rn<_Scalar, _N>

using Tangent = RnTangent<_Scalar, _N>

using Base = RnTangentBase<Tangent>

using DataType = Eigen::Matrix<Scalar, DoF, 1>

using Jacobian = Eigen::Matrix<Scalar, DoF, DoF>

using LieAlg = Eigen::Matrix<Scalar, DoF+1, DoF+1>

Public static variables

static int Dim constexpr

static int DoF constexpr

static int RepSize constexpr